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<div class="title">voxel_grid.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_VOXEL_GRID_MAP_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">getMinMax3D</a> (<span class="keyword">const</span> pcl::PCLPointCloud2ConstPtr &amp;cloud, <span class="keywordtype">int</span> x_idx, <span class="keywordtype">int</span> y_idx, <span class="keywordtype">int</span> z_idx,</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">getMinMax3D</a> (<span class="keyword">const</span> pcl::PCLPointCloud2ConstPtr &amp;cloud, <span class="keywordtype">int</span> x_idx, <span class="keywordtype">int</span> y_idx, <span class="keywordtype">int</span> z_idx,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;               <span class="keyword">const</span> std::string &amp;distance_field_name, <span class="keywordtype">float</span> min_distance, <span class="keywordtype">float</span> max_distance, </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, <span class="keywordtype">bool</span> limit_negative = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">inline</span> Eigen::MatrixXi</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  getHalfNeighborCellIndices ()</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    Eigen::MatrixXi relative_coordinates (3, 13);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">// 0 - 8</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -1; i &lt; 2; i++) </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = -1; j &lt; 2; j++) </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        relative_coordinates (0, idx) = i;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        relative_coordinates (1, idx) = j;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        relative_coordinates (2, idx) = -1;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        idx++;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// 9 - 11</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -1; i &lt; 2; i++) </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      relative_coordinates (0, idx) = i;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      relative_coordinates (1, idx) = -1;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      relative_coordinates (2, idx) = 0;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      idx++;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">// 12</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    relative_coordinates (0, idx) = -1;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    relative_coordinates (1, idx) = 0;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    relative_coordinates (2, idx) = 0;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> (relative_coordinates);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">inline</span> Eigen::MatrixXi</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  getAllNeighborCellIndices ()</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    Eigen::MatrixXi relative_coordinates = getHalfNeighborCellIndices ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    Eigen::MatrixXi relative_coordinates_all( 3, 26);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    relative_coordinates_all.block&lt;3, 13&gt; (0, 0) = relative_coordinates;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    relative_coordinates_all.block&lt;3, 13&gt; (0, 13) = -relative_coordinates;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> (relative_coordinates_all);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">getMinMax3D</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud, </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;               <span class="keyword">const</span> std::string &amp;distance_field_name, <span class="keywordtype">float</span> min_distance, <span class="keywordtype">float</span> max_distance,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, <span class="keywordtype">bool</span> limit_negative = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">getMinMax3D</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud, </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;               <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;               <span class="keyword">const</span> std::string &amp;distance_field_name, <span class="keywordtype">float</span> min_distance, <span class="keywordtype">float</span> max_distance,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, <span class="keywordtype">bool</span> limit_negative = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html">  178</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; VoxelGrid&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const VoxelGrid&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a76a7dabd27331f7348aca3f20397bfbc">  195</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a76a7dabd27331f7348aca3f20397bfbc">VoxelGrid</a> () : </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a> (Eigen::Vector4f::Zero ()),</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a> (Eigen::Array4f::Zero ()),</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a> (true), </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a> (false),</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a> (),</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a> (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        max_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        div_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        divb_mul_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a> (<span class="stringliteral">&quot;&quot;</span>), </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a> (-FLT_MAX), </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a> (FLT_MAX),</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a> (false),</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a> (0)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;VoxelGrid&quot;</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a233569b974c8eadc98f75e1ca5ef9eab">  215</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a233569b974c8eadc98f75e1ca5ef9eab">~VoxelGrid</a> ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">  223</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;leaf_size) </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      { </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a> = leaf_size; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[3] == 0)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[3] = 1;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a> = Eigen::Array4f::Ones () / <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">  239</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">setLeafSize</a> (<span class="keywordtype">float</span> lx, <span class="keywordtype">float</span> ly, <span class="keywordtype">float</span> lz)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] = lx; <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] = ly; <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] = lz;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[3] == 0)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[3] = 1;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a> = Eigen::Array4f::Ones () / <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a6766e862450a1d8a45301280e156ba6c">  251</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a6766e862450a1d8a45301280e156ba6c">getLeafSize</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">  257</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (<span class="keywordtype">bool</span> downsample) { <a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a> = downsample; }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#af88dc139ffea89a7a400c5c39c087099">  263</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#af88dc139ffea89a7a400c5c39c087099">getDownsampleAllData</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>); }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">  269</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">setMinimumPointsNumberPerVoxel</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_points_per_voxel) { <a class="code" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a> = min_points_per_voxel; }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a7f16d806b45978fa67c4a69e4d025938">  274</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a7f16d806b45978fa67c4a69e4d025938">getMinimumPointsNumberPerVoxel</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a>; }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">  280</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">setSaveLeafLayout</a> (<span class="keywordtype">bool</span> save_leaf_layout) { <a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a> = save_leaf_layout; }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#ae3d7e68ede5c712c036fd2237795f3bb">  284</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#ae3d7e68ede5c712c036fd2237795f3bb">getSaveLeafLayout</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a>); }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a69443c2cde9e6ee5d5eccfe1e37adccc">  290</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a69443c2cde9e6ee5d5eccfe1e37adccc">getMinBoxCoordinates</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#ac344416d7cd23ffbd0732a9e3e6c0ec5">  296</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#ac344416d7cd23ffbd0732a9e3e6c0ec5">getMaxBoxCoordinates</a> () { <span class="keywordflow">return</span> (max_b_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#afdd69e5c0290757f44d64c7c69384d17">  302</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#afdd69e5c0290757f44d64c7c69384d17">getNrDivisions</a> () { <span class="keywordflow">return</span> (div_b_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a5ac7ed575c8b7fc8a47e774e9cec2065">  308</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a5ac7ed575c8b7fc8a47e774e9cec2065">getDivisionMultiplier</a> () { <span class="keywordflow">return</span> (divb_mul_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">  319</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">getCentroidIndex</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>.at ((Eigen::Vector4i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])), 0) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>).dot (divb_mul_)));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">  333</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">getNeighborCentroidIndices</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;reference_point, <span class="keyword">const</span> Eigen::MatrixXi &amp;relative_coordinates)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])), 0);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        Eigen::Array4i diff2min = <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a> - ijk;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        Eigen::Array4i diff2max = max_b_ - ijk;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        std::vector&lt;int&gt; neighbors (relative_coordinates.cols());</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ni = 0; ni &lt; relative_coordinates.cols (); ni++)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          Eigen::Vector4i displacement = (Eigen::Vector4i() &lt;&lt; relative_coordinates.col(ni), 0).finished();</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="comment">// checking if the specified cell is in the grid</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keywordflow">if</span> ((diff2min &lt;= displacement.array()).all() &amp;&amp; (diff2max &gt;= displacement.array()).all())</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;            neighbors[ni] = <a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>[((ijk + displacement - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>).dot (divb_mul_))]; <span class="comment">// .at() can be omitted</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;            neighbors[ni] = -1; <span class="comment">// cell is out of bounds, consider it empty</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">return</span> (neighbors);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">  357</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">getLeafLayout</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>); }</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">  365</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">getGridCoordinates</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      { </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="keywordflow">return</span> (Eigen::Vector3i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])))); </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">  376</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;ijk)</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordtype">int</span> idx = ((Eigen::Vector4i() &lt;&lt; ijk, 0).finished() - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>).dot (divb_mul_);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>.size ())) <span class="comment">// this checks also if leaf_layout_.size () == 0 i.e. everything was computed as needed</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          <span class="comment">//if (verbose)</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <span class="comment">//  PCL_ERROR (&quot;[pcl::%s::getCentroidIndexAt] Specified coordinate is outside grid bounds, or leaf layout is not saved, make sure to call setSaveLeafLayout(true) and filter(output) first!\n&quot;, getClassName ().c_str ());</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>[idx]);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">  393</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">setFilterFieldName</a> (<span class="keyword">const</span> std::string &amp;field_name)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a> = field_name;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">inline</span> std::string <span class="keyword">const</span></div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a2b786e2d4ae89d179625278fe1e000fb">  400</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a2b786e2d4ae89d179625278fe1e000fb">getFilterFieldName</a> ()</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">  410</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">setFilterLimits</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;limit_min, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;limit_max)</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      {</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a> = limit_min;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a> = limit_max;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">  421</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">getFilterLimits</a> (<span class="keywordtype">double</span> &amp;limit_min, <span class="keywordtype">double</span> &amp;limit_max)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        limit_min = <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a>;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        limit_max = <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">  432</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">setFilterLimitsNegative</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> limit_negative)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a> = limit_negative;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">  441</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">getFilterLimitsNegative</a> (<span class="keywordtype">bool</span> &amp;limit_negative)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      {</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        limit_negative = <a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a>;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      }</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00450"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">  450</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">getFilterLimitsNegative</a> ()</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a>);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      }</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00457"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">  457</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">  460</a></span>&#160;      Eigen::Array4f <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">  463</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">  466</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a>;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">  469</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">  472</a></span>&#160;      Eigen::Vector4i <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>, max_b_, div_b_, divb_mul_;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">  475</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">  478</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a>;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">  481</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a>;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">  484</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a>;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">  487</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a>;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html#ac5e7d3bb2b3e7c05dbc45ba44a443297">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  };</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">  511</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt;pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;pcl::PCLPointCloud2&gt;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  {</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;pcl::PCLPointCloud2&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;pcl::PCLPointCloud2&gt;::getClassName</a>;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keyword">typedef</span> PCLPointCloud2::Ptr PCLPointCloud2Ptr;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="keyword">typedef</span> PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00522"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a64cef7948e827c6f1cdaf837f21d823c">  522</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a64cef7948e827c6f1cdaf837f21d823c">VoxelGrid</a> () : </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;        leaf_size_ (Eigen::Vector4f::Zero ()),</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;        inverse_leaf_size_ (Eigen::Array4f::Zero ()),</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        downsample_all_data_ (true), </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        save_leaf_layout_ (false),</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        leaf_layout_ (),</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        min_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        max_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        div_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        divb_mul_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        filter_field_name_ (<span class="stringliteral">&quot;&quot;</span>), </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        filter_limit_min_ (-FLT_MAX), </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        filter_limit_max_ (FLT_MAX),</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        filter_limit_negative_ (false),</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        min_points_per_voxel_ (0)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        filter_name_ = <span class="stringliteral">&quot;VoxelGrid&quot;</span>;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      }</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9606cf74b770af30dee23aa97326709f">  542</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9606cf74b770af30dee23aa97326709f">~VoxelGrid</a> ()</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      {</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00550"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a3768360da74a45768b00d8fc7cd179">  550</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a3768360da74a45768b00d8fc7cd179">setLeafSize</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;leaf_size) </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      { </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        leaf_size_ = leaf_size; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">if</span> (leaf_size_[3] == 0)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          leaf_size_[3] = 1;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      }</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00566"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad3efe8cb07386b291c88c5178e8b135d">  566</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad3efe8cb07386b291c88c5178e8b135d">setLeafSize</a> (<span class="keywordtype">float</span> lx, <span class="keywordtype">float</span> ly, <span class="keywordtype">float</span> lz)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        leaf_size_[0] = lx; leaf_size_[1] = ly; leaf_size_[2] = lz;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        <span class="keywordflow">if</span> (leaf_size_[3] == 0)</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          leaf_size_[3] = 1;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      }</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00578"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad19b64ab64da7bad4c2e1cb9b10b914d">  578</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad19b64ab64da7bad4c2e1cb9b10b914d">getLeafSize</a> () { <span class="keywordflow">return</span> (leaf_size_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00584"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2c93ac4fcbc8183ad5618e633dd7de7e">  584</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2c93ac4fcbc8183ad5618e633dd7de7e">setDownsampleAllData</a> (<span class="keywordtype">bool</span> downsample) { downsample_all_data_ = downsample; }</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00590"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afaf54814cd0a8c6f6e64059356eeed4f">  590</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afaf54814cd0a8c6f6e64059356eeed4f">getDownsampleAllData</a> () { <span class="keywordflow">return</span> (downsample_all_data_); }</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00596"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae3eafa1ff8820f85536916c62cfb4de1">  596</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae3eafa1ff8820f85536916c62cfb4de1">setMinimumPointsNumberPerVoxel</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_points_per_voxel) { min_points_per_voxel_ = min_points_per_voxel; }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00601"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a31456dc3a59a6e34d61c661ef9c30d1b">  601</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a31456dc3a59a6e34d61c661ef9c30d1b">getMinimumPointsNumberPerVoxel</a> () { <span class="keywordflow">return</span> min_points_per_voxel_; }</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00607"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac224d8287578b0faa84c0dd7a70e50c9">  607</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac224d8287578b0faa84c0dd7a70e50c9">setSaveLeafLayout</a> (<span class="keywordtype">bool</span> save_leaf_layout) { save_leaf_layout_ = save_leaf_layout; }</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00611"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af99aa1bea1e99021f502541cced67a70">  611</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af99aa1bea1e99021f502541cced67a70">getSaveLeafLayout</a> () { <span class="keywordflow">return</span> (save_leaf_layout_); }</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00617"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6bbd35aa328b927fe37548f72bd4c49d">  617</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6bbd35aa328b927fe37548f72bd4c49d">getMinBoxCoordinates</a> () { <span class="keywordflow">return</span> (min_b_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00623"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4014973ea6eb6a646fe1c7d4087fff2f">  623</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4014973ea6eb6a646fe1c7d4087fff2f">getMaxBoxCoordinates</a> () { <span class="keywordflow">return</span> (max_b_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160; </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00629"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4d2312bbd7a04bf29dbb0021efe95dc9">  629</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4d2312bbd7a04bf29dbb0021efe95dc9">getNrDivisions</a> () { <span class="keywordflow">return</span> (div_b_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00635"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae97a8c73bf15465cc17978eb9bfddb51">  635</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae97a8c73bf15465cc17978eb9bfddb51">getDivisionMultiplier</a> () { <span class="keywordflow">return</span> (divb_mul_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00645"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9b1c84576670f8b34ac7bc92d92e9f39">  645</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9b1c84576670f8b34ac7bc92d92e9f39">getCentroidIndex</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      {</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        <span class="keywordflow">return</span> (leaf_layout_.at ((Eigen::Vector4i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * inverse_leaf_size_[0])), </div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * inverse_leaf_size_[1])), </div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;                                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * inverse_leaf_size_[2])), </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;                                                   0) </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                - min_b_).dot (divb_mul_)));</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      }</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00663"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aafea09b10378c43b3fdf1d4081d7c6da">  663</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aafea09b10378c43b3fdf1d4081d7c6da">getNeighborCentroidIndices</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keyword">const</span> Eigen::MatrixXi &amp;relative_coordinates)</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;      {</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * inverse_leaf_size_[0])), </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * inverse_leaf_size_[1])), </div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * inverse_leaf_size_[2])), 0);</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        Eigen::Array4i diff2min = min_b_ - ijk;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        Eigen::Array4i diff2max = max_b_ - ijk;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;        std::vector&lt;int&gt; neighbors (relative_coordinates.cols());</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ni = 0; ni &lt; relative_coordinates.cols (); ni++)</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        {</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          Eigen::Vector4i displacement = (Eigen::Vector4i() &lt;&lt; relative_coordinates.col(ni), 0).finished();</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          <span class="comment">// checking if the specified cell is in the grid</span></div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;          <span class="keywordflow">if</span> ((diff2min &lt;= displacement.array()).all() &amp;&amp; (diff2max &gt;= displacement.array()).all())</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;            neighbors[ni] = leaf_layout_[((ijk + displacement - min_b_).dot (divb_mul_))]; <span class="comment">// .at() can be omitted</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;            neighbors[ni] = -1; <span class="comment">// cell is out of bounds, consider it empty</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;        <span class="keywordflow">return</span> (neighbors);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;      }</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;      </div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00692"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a087034ff17fe72637bf9fb9a5dbb5e84">  692</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a087034ff17fe72637bf9fb9a5dbb5e84">getNeighborCentroidIndices</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keyword">const</span> std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; &amp;relative_coordinates)</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;        Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (x * inverse_leaf_size_[0])), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (y * inverse_leaf_size_[1])), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (z * inverse_leaf_size_[2])), 0);</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        std::vector&lt;int&gt; neighbors;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;        neighbors.reserve (relative_coordinates.size ());</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;::const_iterator it = relative_coordinates.begin (); it != relative_coordinates.end (); it++)</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;          neighbors.push_back (leaf_layout_[(ijk + (Eigen::Vector4i() &lt;&lt; *it, 0).finished() - min_b_).dot (divb_mul_)]);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        <span class="keywordflow">return</span> (neighbors);</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      }</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00706"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6ae66d452352e8475c2600f70e24e149">  706</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6ae66d452352e8475c2600f70e24e149">getLeafLayout</a> () { <span class="keywordflow">return</span> (leaf_layout_); }</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160; </div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3i </div>
<div class="line"><a name="l00714"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a58d4b4bb5b59bec0e84c64d8395aafaa">  714</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a58d4b4bb5b59bec0e84c64d8395aafaa">getGridCoordinates</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      { </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        <span class="keywordflow">return</span> (Eigen::Vector3i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (x * inverse_leaf_size_[0])), </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (y * inverse_leaf_size_[1])), </div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;                                 <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (z * inverse_leaf_size_[2])))); </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      }</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160; </div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00725"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad1ac95dd523dd9371e2e44784105a647">  725</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad1ac95dd523dd9371e2e44784105a647">getCentroidIndexAt</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;ijk)</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;      {</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;        <span class="keywordtype">int</span> idx = ((Eigen::Vector4i() &lt;&lt; ijk, 0).finished() - min_b_).dot (divb_mul_);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;        <span class="keywordflow">if</span> (idx &lt; 0 || idx &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (leaf_layout_.size ())) <span class="comment">// this checks also if leaf_layout_.size () == 0 i.e. everything was computed as needed</span></div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;        {</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;          <span class="comment">//if (verbose)</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;          <span class="comment">//  PCL_ERROR (&quot;[pcl::%s::getCentroidIndexAt] Specified coordinate is outside grid bounds, or leaf layout is not saved, make sure to call setSaveLeafLayout(true) and filter(output) first!\n&quot;, getClassName ().c_str ());</span></div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;          <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="keywordflow">return</span> (leaf_layout_[idx]);</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      }</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160; </div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00742"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab936d6808f9d9f98b6c0db24be0a41de">  742</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab936d6808f9d9f98b6c0db24be0a41de">setFilterFieldName</a> (<span class="keyword">const</span> std::string &amp;field_name)</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;        filter_field_name_ = field_name;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      }</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;      <span class="keyword">inline</span> std::string <span class="keyword">const</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a95d3a8f1e4e4b3e85455d1a2d0f6b0ed">  749</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a95d3a8f1e4e4b3e85455d1a2d0f6b0ed">getFilterFieldName</a> ()</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;      {</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;        <span class="keywordflow">return</span> (filter_field_name_);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;      }</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160; </div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00759"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a30dd6eb2db4530a79de192731019ac14">  759</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a30dd6eb2db4530a79de192731019ac14">setFilterLimits</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;limit_min, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;limit_max)</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;      {</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        filter_limit_min_ = limit_min;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;        filter_limit_max_ = limit_max;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;      }</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00770"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a7607b25d7f80928f5693bc29fdcef2d1">  770</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a7607b25d7f80928f5693bc29fdcef2d1">getFilterLimits</a> (<span class="keywordtype">double</span> &amp;limit_min, <span class="keywordtype">double</span> &amp;limit_max)</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;      {</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;        limit_min = filter_limit_min_;</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;        limit_max = filter_limit_max_;</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;      }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160; </div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00781"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac7dc7ae35053e955da166a66a7e98aa6">  781</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac7dc7ae35053e955da166a66a7e98aa6">setFilterLimitsNegative</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> limit_negative)</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      {</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        filter_limit_negative_ = limit_negative;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      }</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00790"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af05fc089a7314ffd56c8a7cdadf3b5b3">  790</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af05fc089a7314ffd56c8a7cdadf3b5b3">getFilterLimitsNegative</a> (<span class="keywordtype">bool</span> &amp;limit_negative)</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;        limit_negative = filter_limit_negative_;</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      }</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00799"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a29297f6d7cac8c61236585f2dc73c4dd">  799</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a29297f6d7cac8c61236585f2dc73c4dd">getFilterLimitsNegative</a> ()</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <span class="keywordflow">return</span> (filter_limit_negative_);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      }</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160; </div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00806"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">  806</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">leaf_size_</a>;</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">  809</a></span>&#160;      Eigen::Array4f <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160; </div>
<div class="line"><a name="l00812"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3aced43dc1214b6a5f664ddda59b5fad">  812</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3aced43dc1214b6a5f664ddda59b5fad">downsample_all_data_</a>;</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160; </div>
<div class="line"><a name="l00817"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">  817</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">save_leaf_layout_</a>;</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00822"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">  822</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">leaf_layout_</a>;</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160; </div>
<div class="line"><a name="l00827"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">  827</a></span>&#160;      Eigen::Vector4i <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">min_b_</a>, max_b_, div_b_, divb_mul_;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">  830</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">filter_field_name_</a>;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160; </div>
<div class="line"><a name="l00833"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">  833</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">filter_limit_min_</a>;</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160; </div>
<div class="line"><a name="l00836"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">  836</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">filter_limit_max_</a>;</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160; </div>
<div class="line"><a name="l00839"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">  839</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">filter_limit_negative_</a>;</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160; </div>
<div class="line"><a name="l00842"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">  842</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">min_points_per_voxel_</a>;</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00848"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a94c3a5c79711a5cffff8dcd223df605c">  848</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a94c3a5c79711a5cffff8dcd223df605c">applyFilter</a> (<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;output);</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  };</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;}</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/voxel_grid.hpp&gt;</span></div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160; </div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a087034ff17fe72637bf9fb9a5dbb5e84"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a087034ff17fe72637bf9fb9a5dbb5e84">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getNeighborCentroidIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; getNeighborCentroidIndices(float x, float y, float z, const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;relative_coordinates)</div><div class="ttdoc">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinate...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:692</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a1cbeb76cb1f0d48a5dbeec93fe0e028b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a1cbeb76cb1f0d48a5dbeec93fe0e028b">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_field_name_</a></div><div class="ttdeci">std::string filter_field_name_</div><div class="ttdoc">The desired user filter field name.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:830</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a25b1e276cf28a05712d79d2fa72a70c1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a25b1e276cf28a05712d79d2fa72a70c1">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::leaf_layout_</a></div><div class="ttdeci">std::vector&lt; int &gt; leaf_layout_</div><div class="ttdoc">The leaf layout information for fast access to cells relative to current position</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:822</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a29297f6d7cac8c61236585f2dc73c4dd"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a29297f6d7cac8c61236585f2dc73c4dd">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getFilterLimitsNegative</a></div><div class="ttdeci">bool getFilterLimitsNegative()</div><div class="ttdoc">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:799</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a2c93ac4fcbc8183ad5618e633dd7de7e"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a2c93ac4fcbc8183ad5618e633dd7de7e">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:584</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a30dd6eb2db4530a79de192731019ac14"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a30dd6eb2db4530a79de192731019ac14">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setFilterLimits</a></div><div class="ttdeci">void setFilterLimits(const double &amp;limit_min, const double &amp;limit_max)</div><div class="ttdoc">Set the field filter limits. All points having field values outside this interval will be discarded.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:759</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a31456dc3a59a6e34d61c661ef9c30d1b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a31456dc3a59a6e34d61c661ef9c30d1b">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getMinimumPointsNumberPerVoxel</a></div><div class="ttdeci">unsigned int getMinimumPointsNumberPerVoxel()</div><div class="ttdoc">Return the minimum number of points required for a voxel to be used.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:601</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a3848566ad3c84944b7aa6d0d1879d22b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3848566ad3c84944b7aa6d0d1879d22b">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:827</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a3aced43dc1214b6a5f664ddda59b5fad"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a3aced43dc1214b6a5f664ddda59b5fad">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:812</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a4014973ea6eb6a646fe1c7d4087fff2f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4014973ea6eb6a646fe1c7d4087fff2f">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getMaxBoxCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getMaxBoxCoordinates()</div><div class="ttdoc">Get the minimum coordinates of the bounding box (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:623</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a4d2312bbd7a04bf29dbb0021efe95dc9"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a4d2312bbd7a04bf29dbb0021efe95dc9">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getNrDivisions</a></div><div class="ttdeci">Eigen::Vector3i getNrDivisions()</div><div class="ttdoc">Get the number of divisions along all 3 axes (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:629</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a58d4b4bb5b59bec0e84c64d8395aafaa"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a58d4b4bb5b59bec0e84c64d8395aafaa">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getGridCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getGridCoordinates(float x, float y, float z)</div><div class="ttdoc">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:714</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a5a3768360da74a45768b00d8fc7cd179"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5a3768360da74a45768b00d8fc7cd179">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:550</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a5ed9bc7d2ca7c8b965e5d61c4921a4b9"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a5ed9bc7d2ca7c8b965e5d61c4921a4b9">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::min_points_per_voxel_</a></div><div class="ttdeci">unsigned int min_points_per_voxel_</div><div class="ttdoc">Minimum number of points per voxel for the centroid to be computed</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:842</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a64cef7948e827c6f1cdaf837f21d823c"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a64cef7948e827c6f1cdaf837f21d823c">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::VoxelGrid</a></div><div class="ttdeci">VoxelGrid()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:522</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a650f3a4c1ca3ed2dc4b272876b4bf717"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a650f3a4c1ca3ed2dc4b272876b4bf717">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_limit_negative_</a></div><div class="ttdeci">bool filter_limit_negative_</div><div class="ttdoc">Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_)....</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:839</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a6ae66d452352e8475c2600f70e24e149"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6ae66d452352e8475c2600f70e24e149">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getLeafLayout</a></div><div class="ttdeci">std::vector&lt; int &gt; getLeafLayout()</div><div class="ttdoc">Returns the layout of the leafs for fast access to cells relative to current position.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:706</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a6bbd35aa328b927fe37548f72bd4c49d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a6bbd35aa328b927fe37548f72bd4c49d">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getMinBoxCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getMinBoxCoordinates()</div><div class="ttdoc">Get the minimum coordinates of the bounding box (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:617</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a7607b25d7f80928f5693bc29fdcef2d1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a7607b25d7f80928f5693bc29fdcef2d1">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getFilterLimits</a></div><div class="ttdeci">void getFilterLimits(double &amp;limit_min, double &amp;limit_max)</div><div class="ttdoc">Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:770</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a94c3a5c79711a5cffff8dcd223df605c"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a94c3a5c79711a5cffff8dcd223df605c">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::applyFilter</a></div><div class="ttdeci">void applyFilter(PCLPointCloud2 &amp;output)</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a95d3a8f1e4e4b3e85455d1a2d0f6b0ed"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a95d3a8f1e4e4b3e85455d1a2d0f6b0ed">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getFilterFieldName</a></div><div class="ttdeci">std::string const getFilterFieldName()</div><div class="ttdoc">Get the name of the field used for filtering.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:749</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a9606cf74b770af30dee23aa97326709f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9606cf74b770af30dee23aa97326709f">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::~VoxelGrid</a></div><div class="ttdeci">virtual ~VoxelGrid()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:542</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a9b1c84576670f8b34ac7bc92d92e9f39"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a9b1c84576670f8b34ac7bc92d92e9f39">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getCentroidIndex</a></div><div class="ttdeci">int getCentroidIndex(float x, float y, float z)</div><div class="ttdoc">Returns the index in the resulting downsampled cloud of the specified point.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:645</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_aafea09b10378c43b3fdf1d4081d7c6da"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aafea09b10378c43b3fdf1d4081d7c6da">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getNeighborCentroidIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; getNeighborCentroidIndices(float x, float y, float z, const Eigen::MatrixXi &amp;relative_coordinates)</div><div class="ttdoc">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinate...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:663</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ab185d719494bb4f3fd02beddf416b557"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab185d719494bb4f3fd02beddf416b557">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_limit_max_</a></div><div class="ttdeci">double filter_limit_max_</div><div class="ttdoc">The maximum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:836</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ab936d6808f9d9f98b6c0db24be0a41de"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ab936d6808f9d9f98b6c0db24be0a41de">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setFilterFieldName</a></div><div class="ttdeci">void setFilterFieldName(const std::string &amp;field_name)</div><div class="ttdoc">Provide the name of the field to be used for filtering data. In conjunction with setFilterLimits,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:742</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_abbc2d44932141daf9e665e5862e35234"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#abbc2d44932141daf9e665e5862e35234">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::filter_limit_min_</a></div><div class="ttdeci">double filter_limit_min_</div><div class="ttdoc">The minimum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:833</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ac1202fd3ac1dcb29884f14d690520f02"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac1202fd3ac1dcb29884f14d690520f02">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::save_leaf_layout_</a></div><div class="ttdeci">bool save_leaf_layout_</div><div class="ttdoc">Set to true if leaf layout information needs to be saved in leaf_layout.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:817</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ac224d8287578b0faa84c0dd7a70e50c9"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac224d8287578b0faa84c0dd7a70e50c9">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setSaveLeafLayout</a></div><div class="ttdeci">void setSaveLeafLayout(bool save_leaf_layout)</div><div class="ttdoc">Set to true if leaf layout information needs to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:607</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ac7dc7ae35053e955da166a66a7e98aa6"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ac7dc7ae35053e955da166a66a7e98aa6">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setFilterLimitsNegative</a></div><div class="ttdeci">void setFilterLimitsNegative(const bool limit_negative)</div><div class="ttdoc">Set to true if we want to return the data outside the interval specified by setFilterLimits (min,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:781</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ad19b64ab64da7bad4c2e1cb9b10b914d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad19b64ab64da7bad4c2e1cb9b10b914d">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getLeafSize</a></div><div class="ttdeci">Eigen::Vector3f getLeafSize()</div><div class="ttdoc">Get the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:578</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ad1ac95dd523dd9371e2e44784105a647"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad1ac95dd523dd9371e2e44784105a647">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getCentroidIndexAt</a></div><div class="ttdeci">int getCentroidIndexAt(const Eigen::Vector3i &amp;ijk)</div><div class="ttdoc">Returns the index in the downsampled cloud corresponding to a given set of coordinates.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:725</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ad3efe8cb07386b291c88c5178e8b135d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ad3efe8cb07386b291c88c5178e8b135d">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setLeafSize</a></div><div class="ttdeci">void setLeafSize(float lx, float ly, float lz)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:566</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_adfab7417c9c38da8bf84f363c480a479"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#adfab7417c9c38da8bf84f363c480a479">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:809</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ae3eafa1ff8820f85536916c62cfb4de1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae3eafa1ff8820f85536916c62cfb4de1">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::setMinimumPointsNumberPerVoxel</a></div><div class="ttdeci">void setMinimumPointsNumberPerVoxel(unsigned int min_points_per_voxel)</div><div class="ttdoc">Set the minimum number of points required for a voxel to be used.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:596</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_ae97a8c73bf15465cc17978eb9bfddb51"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#ae97a8c73bf15465cc17978eb9bfddb51">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getDivisionMultiplier</a></div><div class="ttdeci">Eigen::Vector3i getDivisionMultiplier()</div><div class="ttdoc">Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after ...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:635</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_aefb7ae0b4f979af11f5cb1e64595d4ff"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#aefb7ae0b4f979af11f5cb1e64595d4ff">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:806</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_af05fc089a7314ffd56c8a7cdadf3b5b3"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af05fc089a7314ffd56c8a7cdadf3b5b3">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getFilterLimitsNegative</a></div><div class="ttdeci">void getFilterLimitsNegative(bool &amp;limit_negative)</div><div class="ttdoc">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:790</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_af99aa1bea1e99021f502541cced67a70"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#af99aa1bea1e99021f502541cced67a70">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getSaveLeafLayout</a></div><div class="ttdeci">bool getSaveLeafLayout()</div><div class="ttdoc">Returns true if leaf layout information will to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:611</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_afaf54814cd0a8c6f6e64059356eeed4f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#afaf54814cd0a8c6f6e64059356eeed4f">pcl::VoxelGrid&lt; pcl::PCLPointCloud2 &gt;::getDownsampleAllData</a></div><div class="ttdeci">bool getDownsampleAllData()</div><div class="ttdoc">Get the state of the internal downsampling parameter (true if all fields need to be downsampled,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:590</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a0b7ead02de1bfcce1100ff66cbc12998"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">pcl::VoxelGrid::getCentroidIndex</a></div><div class="ttdeci">int getCentroidIndex(const PointT &amp;p)</div><div class="ttdoc">Returns the index in the resulting downsampled cloud of the specified point.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:319</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1343f669f040cee74afcf0bdafef68ee"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">pcl::VoxelGrid::getCentroidIndexAt</a></div><div class="ttdeci">int getCentroidIndexAt(const Eigen::Vector3i &amp;ijk)</div><div class="ttdoc">Returns the index in the downsampled cloud corresponding to a given set of coordinates.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a155aa8fce756b002bb1b4b352f8f530f"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">pcl::VoxelGrid::setFilterFieldName</a></div><div class="ttdeci">void setFilterFieldName(const std::string &amp;field_name)</div><div class="ttdoc">Provide the name of the field to be used for filtering data. In conjunction with setFilterLimits,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1694d46442c66f7071235a8571dd602a"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">pcl::VoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1789763b2f3b17cce937b9902cfb6175"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">pcl::VoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1faafa6a4c3fe10e1e7d83fe353de058"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">pcl::VoxelGrid::getFilterLimitsNegative</a></div><div class="ttdeci">void getFilterLimitsNegative(bool &amp;limit_negative)</div><div class="ttdoc">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:441</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1fc5ee26e1ab45ceb7eb7f28fa7c09ba"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">pcl::VoxelGrid::setFilterLimitsNegative</a></div><div class="ttdeci">void setFilterLimitsNegative(const bool limit_negative)</div><div class="ttdoc">Set to true if we want to return the data outside the interval specified by setFilterLimits (min,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:432</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a233569b974c8eadc98f75e1ca5ef9eab"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a233569b974c8eadc98f75e1ca5ef9eab">pcl::VoxelGrid::~VoxelGrid</a></div><div class="ttdeci">virtual ~VoxelGrid()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a24a0c685d3d211e998e927766553b8e3"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">pcl::VoxelGrid::min_points_per_voxel_</a></div><div class="ttdeci">unsigned int min_points_per_voxel_</div><div class="ttdoc">Minimum number of points per voxel for the centroid to be computed</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:487</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a28015aa9f1c9329c66ce8a02b727a783"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">pcl::VoxelGrid::getNeighborCentroidIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; getNeighborCentroidIndices(const PointT &amp;reference_point, const Eigen::MatrixXi &amp;relative_coordinates)</div><div class="ttdoc">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinate...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a2b786e2d4ae89d179625278fe1e000fb"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a2b786e2d4ae89d179625278fe1e000fb">pcl::VoxelGrid::getFilterFieldName</a></div><div class="ttdeci">std::string const getFilterFieldName()</div><div class="ttdoc">Get the name of the field used for filtering.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:400</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a33222904207e6304aa3fbd2b31a9ac84"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">pcl::VoxelGrid::leaf_layout_</a></div><div class="ttdeci">std::vector&lt; int &gt; leaf_layout_</div><div class="ttdoc">The leaf layout information for fast access to cells relative to current position</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:469</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a3ab26a1286bc68d1129e1a62908869ce"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">pcl::VoxelGrid::getLeafLayout</a></div><div class="ttdeci">std::vector&lt; int &gt; getLeafLayout()</div><div class="ttdoc">Returns the layout of the leafs for fast access to cells relative to current position.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:357</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a41b9bf8bdb39475a714bf09d0bffa1b2"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">pcl::VoxelGrid::getFilterLimitsNegative</a></div><div class="ttdeci">bool getFilterLimitsNegative()</div><div class="ttdoc">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:450</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a5ac7ed575c8b7fc8a47e774e9cec2065"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a5ac7ed575c8b7fc8a47e774e9cec2065">pcl::VoxelGrid::getDivisionMultiplier</a></div><div class="ttdeci">Eigen::Vector3i getDivisionMultiplier()</div><div class="ttdoc">Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after ...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a6766e862450a1d8a45301280e156ba6c"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a6766e862450a1d8a45301280e156ba6c">pcl::VoxelGrid::getLeafSize</a></div><div class="ttdeci">Eigen::Vector3f getLeafSize()</div><div class="ttdoc">Get the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a69443c2cde9e6ee5d5eccfe1e37adccc"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a69443c2cde9e6ee5d5eccfe1e37adccc">pcl::VoxelGrid::getMinBoxCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getMinBoxCoordinates()</div><div class="ttdoc">Get the minimum coordinates of the bounding box (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a6d533280865d5fbd991b8b45383b4fb2"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">pcl::VoxelGrid::getFilterLimits</a></div><div class="ttdeci">void getFilterLimits(double &amp;limit_min, double &amp;limit_max)</div><div class="ttdoc">Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a73e0f889875e09c1990ec088af6c82c4"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">pcl::VoxelGrid::save_leaf_layout_</a></div><div class="ttdeci">bool save_leaf_layout_</div><div class="ttdoc">Set to true if leaf layout information needs to be saved in leaf_layout_.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:466</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a76a7dabd27331f7348aca3f20397bfbc"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a76a7dabd27331f7348aca3f20397bfbc">pcl::VoxelGrid::VoxelGrid</a></div><div class="ttdeci">VoxelGrid()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a7f16d806b45978fa67c4a69e4d025938"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a7f16d806b45978fa67c4a69e4d025938">pcl::VoxelGrid::getMinimumPointsNumberPerVoxel</a></div><div class="ttdeci">unsigned int getMinimumPointsNumberPerVoxel()</div><div class="ttdoc">Return the minimum number of points required for a voxel to be used.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a8115c47d971f0af7a11c4148741f1171"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">pcl::VoxelGrid::filter_limit_negative_</a></div><div class="ttdeci">bool filter_limit_negative_</div><div class="ttdoc">Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_)....</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:484</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a900833dc1c7222056de41c358b0534b8"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">pcl::VoxelGrid::getGridCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getGridCoordinates(float x, float y, float z)</div><div class="ttdoc">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa920d3e9fa0d03643423ade34f6ec986"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">pcl::VoxelGrid::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aabb07bacf03039f40d256b36ee2dd495"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">pcl::VoxelGrid::setSaveLeafLayout</a></div><div class="ttdeci">void setSaveLeafLayout(bool save_leaf_layout)</div><div class="ttdoc">Set to true if leaf layout information needs to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aaec915dae701cca04f4598a818b7a02d"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">pcl::VoxelGrid::filter_limit_max_</a></div><div class="ttdeci">double filter_limit_max_</div><div class="ttdoc">The maximum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:481</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aaed8373030c2ec0ec7571a7851d37c2c"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">pcl::VoxelGrid::setMinimumPointsNumberPerVoxel</a></div><div class="ttdeci">void setMinimumPointsNumberPerVoxel(unsigned int min_points_per_voxel)</div><div class="ttdoc">Set the minimum number of points required for a voxel to be used.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:269</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ac344416d7cd23ffbd0732a9e3e6c0ec5"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ac344416d7cd23ffbd0732a9e3e6c0ec5">pcl::VoxelGrid::getMaxBoxCoordinates</a></div><div class="ttdeci">Eigen::Vector3i getMaxBoxCoordinates()</div><div class="ttdoc">Get the minimum coordinates of the bounding box (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ac5e7d3bb2b3e7c05dbc45ba44a443297"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ac5e7d3bb2b3e7c05dbc45ba44a443297">pcl::VoxelGrid::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach</div><div class="ttdef"><b>Definition:</b> voxel_grid.hpp:214</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ac7af4d73e7dd960d1d7c725a6f3fe9bc"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">pcl::VoxelGrid::filter_field_name_</a></div><div class="ttdeci">std::string filter_field_name_</div><div class="ttdoc">The desired user filter field name.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad6e7aa7d90c1b75ab43d38c48dcff799"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">pcl::VoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:457</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad8929163e5e80d86881a9ad123fa468e"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">pcl::VoxelGrid::filter_limit_min_</a></div><div class="ttdeci">double filter_limit_min_</div><div class="ttdoc">The minimum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:478</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_adf15a6f5cc058b790be6557c4fb11022"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(float lx, float ly, float lz)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ae3d7e68ede5c712c036fd2237795f3bb"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ae3d7e68ede5c712c036fd2237795f3bb">pcl::VoxelGrid::getSaveLeafLayout</a></div><div class="ttdeci">bool getSaveLeafLayout()</div><div class="ttdoc">Returns true if leaf layout information will to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aed2cf27b47ad2059be72e03326d4ff00"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">pcl::VoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:460</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_af88dc139ffea89a7a400c5c39c087099"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#af88dc139ffea89a7a400c5c39c087099">pcl::VoxelGrid::getDownsampleAllData</a></div><div class="ttdeci">bool getDownsampleAllData()</div><div class="ttdoc">Get the state of the internal downsampling parameter (true if all fields need to be downsampled,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:263</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_afc6d78962d7378aea245381fdb13e65e"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">pcl::VoxelGrid::setFilterLimits</a></div><div class="ttdeci">void setFilterLimits(const double &amp;limit_min, const double &amp;limit_max)</div><div class="ttdoc">Set the field filter limits. All points having field values outside this interval will be discarded.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_afdd69e5c0290757f44d64c7c69384d17"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#afdd69e5c0290757f44d64c7c69384d17">pcl::VoxelGrid::getNrDivisions</a></div><div class="ttdeci">Eigen::Vector3i getNrDivisions()</div><div class="ttdoc">Get the number of divisions along all 3 axes (after filtering is performed).</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:302</div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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